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nickgkan / 3d_diffuser_actor

Code for the paper "3D Diffuser Actor: Policy Diffusion with 3D Scene Representations"
https://3d-diffuser-actor.github.io/
MIT License
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Fix inconsistency of quaternion formats and use a better loss for classifying gripper openess #6

Closed buttomnutstoast closed 6 months ago

buttomnutstoast commented 6 months ago
  1. We add an additional argument quaternion_format to switch between xyzw and wxyz quaternion formats. (see this post for more detail).
  2. We replace the binary_cross_entropy_with_logits loss function with binary_cross_entropy for training Act3D